A modular algorithm for the dynamics of multiple flexible robots

被引：0

作者：

Bonaventura, C.S. ^{[1
]}

Jablokow, K.W. ^{[2
]}

Buffinton, K.W. ^{[3
]}

机构：

[1] ZETA-TECH Associates, Inc., Cherry Hill

[2] Engineering Division, Penn State Great Valley, Malvern

[3] Dept. of Mechanical Engineering, Bucknell University, Lewisburg

来源：

International Journal of Robotics and Automation | 2007年 / 22卷 / 03期

关键词：

Constrained motion; Dynamic simulation; Flexible robots; Forward dynamics; Modular algorithms; Multiple robots;

D O I：

10.2316/journal.206.2007.3.206-2959

中图分类号：

学科分类号：

摘要：

This paper presents an efficient modular algorithm for the dynamic simulation of systems of multiple flexible robots with multiple concurrent constraints. This research represents an important extension of previous work in the modular dynamic simulation of complex rigid-body systems. In addition to a summary of the algorithm, the treatment of potentially critical nonlinear strain and kinematic effects is also discussed. The algorithm is validated through several examples, including both series and parallel robot configurations.

引用

页码：222 / 234

页数：12